2015 IEEE International Symposium on Medical Measurements and Applications (MeMeA) Proceedings 2015
DOI: 10.1109/memea.2015.7145246
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Fuzzy sliding mode control of an upper limb exoskeleton for robot-assisted rehabilitation

Abstract: Robot-assisted therapy has become an important technology used to restore and reinforce the motor functions of the patients with neuromuscular disorders. In this paper, we proposed an upper-limb exoskeleton intended to assist the rehabilitation training of shoulder, elbow and wrist. The proposed therapeutic exoskeleton has an anthropomorphic structure able to match the upper-limb anatomy and enable natural human-robot interaction. A modified sliding mode control (SMC) strategy consisting of a proportional-inte… Show more

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Cited by 23 publications
(18 citation statements)
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“…In [21] a robust SMC was proposed that relied on basic information from the human subject (weight, height, age and gender) to handle model uncertainties due to biomechanical variation of patients using an upper limb rehabilitation robot. An SMC consisting of a proportional-integral-derivative sliding surface and a fuzzy hitting control law was developed in [22] to guarantee robust tracking performance and reduce the chattering effect for a class of robot-assisted therapeutic exoskeleton. A fuzzy SMC presented in [23] considered a non-linear model for trajectory tracking of micro robots in the human vasculature system.…”
Section: Literature Reviewmentioning
confidence: 99%
See 1 more Smart Citation
“…In [21] a robust SMC was proposed that relied on basic information from the human subject (weight, height, age and gender) to handle model uncertainties due to biomechanical variation of patients using an upper limb rehabilitation robot. An SMC consisting of a proportional-integral-derivative sliding surface and a fuzzy hitting control law was developed in [22] to guarantee robust tracking performance and reduce the chattering effect for a class of robot-assisted therapeutic exoskeleton. A fuzzy SMC presented in [23] considered a non-linear model for trajectory tracking of micro robots in the human vasculature system.…”
Section: Literature Reviewmentioning
confidence: 99%
“…Taking into account (22) and 24- (27), the Lie derivative L g φ 1 for the first level, which is required for the SMC in (11), is given by:…”
Section: Acceleration Equality For Levelmentioning
confidence: 99%
“…In addition, the pneumatic muscle is used as a driver to realize four degrees of freedom active auxiliary motion RUPERT robot [11], hydraulic drive robot LIMPACT [12], suspended rope drive robot CAREX [13]. After that, researchers developed and designed the upper limb rehabilitation robot based on pneumatic muscle drive, unpowered upper limb rehabilitation robot, hybrid drive upper limb rehabilitation robot and under drive exoskeleton upper limb rehabilitation robot [14][15][16][17][18][19][20][21][22]. The exoskeleton rehabilitation robot solves the problem of controlling the motion amplitude and moment of each joint of human body in the process of rehabilitation training, and overcomes the disadvantage that the end guided rehabilitation robot can only perform simple rehabilitation training (linear motion or circular motion) with small motion amplitude.…”
Section: Introductionmentioning
confidence: 99%
“…In [48] a robust SMC was proposed that relied on basic information from the human subject (weight, height, age and gender) to handle model uncertainties due to biomechanical variation of patients using an upper limb rehabilitation robot. An SMC consisting of a proportional-integral-derivative sliding surface and a fuzzy hitting control law was developed in [44] to guarantee robust tracking performance and reduce the chattering effect for a class of robot-assisted therapeutic exoskeleton. A fuzzy SMC presented in [24] considered a nonlinear model for trajectory tracking of micro robots in the human vasculature system.…”
Section: Introductionmentioning
confidence: 99%